I'll answer the 2nd question first. We had a HB with DS, and we did not have a doula. We're planning a HB this time, and I will absolutely be hiring a doula!! Big mistake last time. I actually need to start interviewing both labor and pp doulas after the NY. With a HB MW, they do not arrive until you are in "full, active labor", and mine was far more concerned with the "medical" aspects than with supporting me during labor. Since I was in labor for 4 days before my MW showed up, I really could have used the support then - and even after she showed up, since she was not hands-on, made no suggestions of things to try, etc. In interviewing MWs this time around, it was made more clear to me that this is pretty much the norm, if I want hands-on support during labor, I really need to hire a doula. During pg, I thought all along I would want everyone hands-off, but with such a long labor, I didn't have it in my anymore, I needed the help.
As for methods, I had a doula friend who discussed my personality type with me, and based on that recommended Hypnobabies (which is different from Hypnobirth) for me. I will also be doing at least some BFW work, since my MW is an instructor, and I need to do some processing of my previous births. From what my friend told me, Hypnobabies is more pragmatic, more straightforward for logical thinkers, whereas BFW is more artsy, for people so inclined, who are more emotional thinkers.
We tried Bradley with our first, wound up only going to one class - but I would recommend you learn a bit about any instructor before putting down the money for something like that. She was absolutely not a good fit for us (extremely religious, with biblical quotes on the walls - which made us very uncomfortable). Although I will say that I have heard since that Bradley is less helpful for OOH births than it is for hospital births, so based on that alone, I wouldn't choose it now. Lamaze I have heard similar things of - better for hospital births than OOH births, since you have far more freedom of movement OOH than you do in the hospital.